Ankit Dhar

Indian Institute of Engineering Science and Technology, Shibpur

Papers

Total Citations

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About

Ankit Dhar’s research advances the frontier of autonomous mobile robotics, with a focus on enabling precise navigation for omnidirectional platforms in indoor environments. His key contributions lie in developing robust localization and environmental mapping systems that overcome the limitations of traditional odometry, which is unreliable for omni-wheeled robots due to wheel slippage. In his highly cited 2017 work, Dhar introduced a novel absolute visual localization system that fuses a scanning camera with augmented reality markers, achieving reliable positioning without cumulative drift. Complementing this, his 2016 paper pioneered a method for generating 2D occupancy grid maps by rotating an Xtion Pro Live depth sensor to create panoramic depth images, effectively mapping unstructured indoor spaces for robot navigation. Together, these papers have garnered over 39 citations, reflecting their practical value in solving core challenges of indoor robot autonomy. Dhar’s work is notable for its clever integration of off-the-shelf sensors with custom actuation, offering scalable and cost-effective solutions for real-world robotic applications.